54 lines
2.1 KiB
Python
54 lines
2.1 KiB
Python
from .detector3d_template import Detector3DTemplate
|
|
|
|
|
|
class PVRCNNPlusPlus(Detector3DTemplate):
|
|
def __init__(self, model_cfg, num_class, dataset):
|
|
super().__init__(model_cfg=model_cfg, num_class=num_class, dataset=dataset)
|
|
self.module_list = self.build_networks()
|
|
|
|
def forward(self, batch_dict):
|
|
batch_dict = self.vfe(batch_dict)
|
|
batch_dict = self.backbone_3d(batch_dict)
|
|
batch_dict = self.map_to_bev_module(batch_dict)
|
|
batch_dict = self.backbone_2d(batch_dict)
|
|
batch_dict = self.dense_head(batch_dict)
|
|
|
|
batch_dict = self.roi_head.proposal_layer(
|
|
batch_dict, nms_config=self.roi_head.model_cfg.NMS_CONFIG['TRAIN' if self.training else 'TEST']
|
|
)
|
|
if self.training:
|
|
targets_dict = self.roi_head.assign_targets(batch_dict)
|
|
batch_dict['rois'] = targets_dict['rois']
|
|
batch_dict['roi_labels'] = targets_dict['roi_labels']
|
|
batch_dict['roi_targets_dict'] = targets_dict
|
|
num_rois_per_scene = targets_dict['rois'].shape[1]
|
|
if 'roi_valid_num' in batch_dict:
|
|
batch_dict['roi_valid_num'] = [num_rois_per_scene for _ in range(batch_dict['batch_size'])]
|
|
|
|
batch_dict = self.pfe(batch_dict)
|
|
batch_dict = self.point_head(batch_dict)
|
|
batch_dict = self.roi_head(batch_dict)
|
|
|
|
if self.training:
|
|
loss, tb_dict, disp_dict = self.get_training_loss()
|
|
|
|
ret_dict = {
|
|
'loss': loss
|
|
}
|
|
return ret_dict, tb_dict, disp_dict
|
|
else:
|
|
pred_dicts, recall_dicts = self.post_processing(batch_dict)
|
|
return pred_dicts, recall_dicts
|
|
|
|
def get_training_loss(self):
|
|
disp_dict = {}
|
|
loss_rpn, tb_dict = self.dense_head.get_loss()
|
|
if self.point_head is not None:
|
|
loss_point, tb_dict = self.point_head.get_loss(tb_dict)
|
|
else:
|
|
loss_point = 0
|
|
loss_rcnn, tb_dict = self.roi_head.get_loss(tb_dict)
|
|
|
|
loss = loss_rpn + loss_point + loss_rcnn
|
|
return loss, tb_dict, disp_dict
|